cmake_minimum_required(VERSION 3.8)
project(my_custom_msgs)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(my_custom_msgs REQUIRED)
find_package(rosidl_default_generators REQUIRED)

# 定义消息文件
rosidl_generate_interfaces(${PROJECT_NAME}
  "msg/TimeInfo.msg"
  "msg/MyCustomMsg.msg"
  DEPENDENCIES std_msgs
)

# 添加可执行文件和依赖
add_executable(my_custom_msgs_pub src/my_custom_msgs_pub.cpp)
ament_target_dependencies(my_custom_msgs_pub rclcpp my_custom_msgs)

add_executable(my_custom_msgs_sub src/my_custom_msgs_sub.cpp)
ament_target_dependencies(my_custom_msgs_sub rclcpp my_custom_msgs)

add_executable(time_publisher src/time_publisher.cpp)
ament_target_dependencies(time_publisher rclcpp my_custom_msgs)

add_executable(time_subscriber src/time_subscriber.cpp)
ament_target_dependencies(time_subscriber rclcpp my_custom_msgs)

# 安装可执行文件
install(TARGETS
  my_custom_msgs_pub
  my_custom_msgs_sub
  time_publisher
  time_subscriber
  DESTINATION lib/${PROJECT_NAME}
)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()
